Neuro-fuzzy technique for navigation of multiple mobile robots |
| |
Authors: | S K Pradhan D R Parhi A K Panda |
| |
Institution: | (1) Department of Mechanical Engineering, N.I.T., Rourkela, Orissa, 769008, India;(2) Department of Electrical Engineering, N.I.T., Rourkela, Orissa, 769008, India |
| |
Abstract: | In this paper, navigation techniques for several mobile robots are investigated in a totally unknown environment. In the beginning,
Fuzzy logic controllers (FLC) using different membership functions are developed and used to navigate mobile robots. First
a fuzzy controller has been used with four types of input members, two types of output members and three parameters each.
Next two types of fuzzy controllers have been developed having same input members and output members with five parameters
each. Each robot has an array of sensors for measuring the distances of obstacles around it and an image sensor for detecting
the bearing of the target. It is found that the FLC having Gaussian membership function is best suitable for navigation of
multiple mobile robots. Then a hybrid neuro-fuzzy technique has been designed for the same problem. The neuro-fuzzy technique
being used here comprises a neural network, which is acting as a pre processor for a fuzzy controller. The neural network
considered for neuro-fuzzy technique is a multi-layer perceptron, with two hidden layers. These techniques have been demonstrated
in simulation mode, which depicts that the robots are able to avoid obstacles and reach the targets efficiently. Amongst the
techniques developed neuro-fuzzy technique is found to be most efficient for mobile robots navigation. Experimental verifications
have been done with the simulation results to prove the authenticity of the developed neuro-fuzzy technique. |
| |
Keywords: | Mobile robots Fuzzy logic Neuro-fuzzy Navigation |
本文献已被 SpringerLink 等数据库收录! |
|